A problem that arises in positioning an articulated figure is the solution of 3D joint positions (kinematics) when goal positions, rather than joint angles, are given. If more than one such goal is o be achived, tge problem is often solved interactively by positioning or solving one component of the linkage, then adjusting another, then redoing the first, and so on. This iterative process us skiw abd tedious. We present a method that automatically solves multiple simultaneous joint position goals. The user interface offers a six-degree-of-freedom input device to specify joint angles and goal positions interactively. Examplesare used to demonstrate the power and efficiency of this method for keypositon animation.